prototype_joints_default_actuator.h
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1 
7 #ifndef PROTOTYPE_JOINTS_DEFAULT_ACTUATOR_H
8 #define PROTOTYPE_JOINTS_DEFAULT_ACTUATOR_H
9 
10 namespace argos {
11  class CPrototypeJointsDefaultActuator;
12 }
13 
14 #include <argos3/core/simulator/actuator.h>
15 #include <argos3/plugins/robots/prototype/control_interface/ci_prototype_joints_actuator.h>
16 #include <argos3/plugins/robots/prototype/simulator/prototype_entity.h>
17 #include <argos3/plugins/robots/prototype/simulator/prototype_joint_equipped_entity.h>
18 
19 namespace argos {
20 
23 
24  public:
25 
27  SSimulatedActuator(const std::string& str_id,
28  Real f_target,
30  SActuator(str_id, f_target),
31  Instance(s_actuator) {}
33  };
34 
35  public:
36 
38 
40 
41  virtual void SetRobot(CComposableEntity& c_entity);
42 
43  virtual void Init(TConfigurationNode& t_tree);
44 
45  virtual void Update();
46 
47  virtual void Reset();
48 
49  private:
50 
51  std::vector<SSimulatedActuator> m_vecSimulatedActuators;
52 
53  CPrototypeJointEquippedEntity* m_pcJointEquippedEntity;
54 
55  };
56 }
57 
58 #endif
virtual void Init(TConfigurationNode &t_tree)
Initializes the actuator from the XML configuration tree.
float Real
Collects all ARGoS code.
Definition: datatypes.h:39
The basic interface for a simulated actuator.
Definition: actuator.h:22
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
Basic class for an entity that contains other entities.
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this actuator.
virtual void Update()
Updates the state of the entity associated to this actuator.
virtual void Reset()
Resets the actuator to the state it had just after Init().
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
SSimulatedActuator(const std::string &str_id, Real f_target, CPrototypeJointEntity::SActuator &s_actuator)